JP5149431B2 - Temperature detection device that detects the temperature of the mover of the motor - Google Patents

Temperature detection device that detects the temperature of the mover of the motor Download PDF

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JP5149431B2
JP5149431B2 JP2011167677A JP2011167677A JP5149431B2 JP 5149431 B2 JP5149431 B2 JP 5149431B2 JP 2011167677 A JP2011167677 A JP 2011167677A JP 2011167677 A JP2011167677 A JP 2011167677A JP 5149431 B2 JP5149431 B2 JP 5149431B2
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temperature
mover
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winding
estimation unit
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JP2013029483A (en
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達也 妹尾
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FANUC Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K13/00—Thermometers specially adapted for specific purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/60—Controlling or determining the temperature of the motor or of the drive
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Measuring Temperature Or Quantity Of Heat (AREA)

Description

本発明は、電動機の可動子を過熱から保護するために電動機の可動子の温度を検出する温度検出装置に関する。   The present invention relates to a temperature detection device that detects the temperature of a motor mover in order to protect the motor mover from overheating.

従来、固定子及び可動子を有する電動機を過熱から保護するための温度検出装置において、固定子の巻線付近に取り付けられたサーミスタやサーモスタットのような温度検出素子によって巻線の温度を検出し、検出した温度が所定の値を超えている場合にはアラーム信号を生成している。   Conventionally, in a temperature detection device for protecting an electric motor having a stator and a mover from overheating, the temperature of a winding is detected by a temperature detection element such as a thermistor or a thermostat attached in the vicinity of the winding of the stator, When the detected temperature exceeds a predetermined value, an alarm signal is generated.

また、電動機を過熱から保護するために巻線の温度を検出する際に、温度検出器によって検出された温度の他にモータロスを考慮する温度検出装置も提案されている（例えば、特許文献１）。   Also, a temperature detection device that considers motor loss in addition to the temperature detected by the temperature detector when detecting the temperature of the winding to protect the motor from overheating has been proposed (for example, Patent Document 1). .

特開２００９−２６１０７８号公報JP 2009-261078 A

しかしながら、従来の温度検出装置は、巻線を過熱保護するためのものであり、可動子を過熱保護するものではない。例えば、同期型電動機の可動子（ロータ）が高速回転するときには、可動子の発熱量が大きくなり、固定子が強制冷却されるので、可動子の温度が固定子の温度より著しく高くなる場合がある。このように可動子の温度が固定子の温度より著しく高くなることによって、電動機に取り付けられたワークや工具のような被駆動体に熱が伝導するという不都合や、可動子が永久磁石を有する場合には永久磁石の減磁又は消磁が生じるという不都合がある。   However, the conventional temperature detection device is for protecting the windings from overheating, and does not protect the mover from overheating. For example, when the mover (rotor) of a synchronous motor rotates at a high speed, the amount of heat generated by the mover increases and the stator is forcibly cooled, so the temperature of the mover may be significantly higher than the temperature of the stator. is there. When the temperature of the mover is significantly higher than the temperature of the stator in this way, heat is conducted to a driven body such as a work or tool attached to the motor, or the mover has a permanent magnet. Has the disadvantage that permanent magnets are demagnetized or demagnetized.

これらの不都合を回避するために、巻線だけでなく可動子も過熱保護する必要がある。しかしながら、サーミスタやサーモスタットのような温度検出器は有線通信を行うので、可動子の温度を検出するために温度検出器を可動子に組み込むのは困難である。   In order to avoid these disadvantages, it is necessary to protect not only the windings but also the mover by overheating. However, since a temperature detector such as a thermistor or a thermostat performs wired communication, it is difficult to incorporate the temperature detector into the mover in order to detect the temperature of the mover.

本発明の目的は、電動機の可動子を過熱保護するために電動機の可動子の温度を検出することができる温度検出装置を提供することである。   The objective of this invention is providing the temperature detection apparatus which can detect the temperature of the needle | mover of an electric motor in order to carry out overheat protection of the needle | mover of an electric motor.

本発明による温度検出装置は、電動機の可動子の温度を検出する温度検出装置であって、前記電動機の固定子と可動子のうちのいずれか一方に設けられた巻線の電流値を検出する電流検出部と、前記電流値を用いて前記可動子の鉄損を推定する鉄損推定部と、前記鉄損を用いて前記可動子の温度を推定する可動子温度推定部と、を有する。   A temperature detection device according to the present invention is a temperature detection device that detects the temperature of a mover of an electric motor, and detects a current value of a winding provided on one of the stator and the mover of the electric motor. A current detection unit; an iron loss estimation unit that estimates the iron loss of the mover using the current value; and a mover temperature estimation unit that estimates the temperature of the mover using the iron loss.

好適には、前記巻線の温度を推定する巻線温度推定部を更に有し、前記可動子温度推定部は、前記鉄損及び前記巻線の温度を用いて前記可動子の温度を推定する。   Preferably, it further includes a winding temperature estimation unit that estimates the temperature of the winding, and the mover temperature estimation unit estimates the temperature of the mover using the iron loss and the temperature of the winding. .

好適には、前記巻線が前記固定子に設けられ、前記巻線温度推定部は、前記巻線の周辺に配置された温度検出素子である。   Preferably, the winding is provided in the stator, and the winding temperature estimation unit is a temperature detection element arranged around the winding.

好適には、前記巻線温度推定部は、前記電流値から前記巻線の銅損を推定し、前記銅損から前記巻線の温度の上昇分を推定する。   Preferably, the winding temperature estimation unit estimates a copper loss of the winding from the current value, and estimates an increase in the temperature of the winding from the copper loss.

好適には、三相交流電流のうちのＵ相、Ｖ相及びＷ相の交流電流がそれぞれ供給される三つの巻線が、前記固定子に設けられ、前記鉄損推定部は、式

Figure 0005149431
に基づいて前記可動子の鉄損を推定する。 Preferably, three windings to which U-phase, V-phase, and W-phase AC currents of the three-phase AC currents are respectively supplied are provided in the stator, and the iron loss estimation unit has the formula
Figure 0005149431
 Based on the above, the iron loss of the mover is estimated.

好適には、三相交流電流のうちのＵ相、Ｖ相及びＷ相の交流電流がそれぞれ供給される三つの巻線が、前記固定子に設けられ、前記鉄損推定部は、式

Figure 0005149431
に基づいて前記可動子の鉄損を推定し、前記可動子温度推定部は、前記鉄損、前記巻線の温度及び前記可動子の温度を用いて前記可動子の温度の上昇分を推定する。 Preferably, three windings to which U-phase, V-phase, and W-phase AC currents of the three-phase AC currents are respectively supplied are provided in the stator, and the iron loss estimation unit has the formula
Figure 0005149431
 The mover temperature estimation unit estimates an increase in temperature of the mover using the iron loss, the temperature of the winding, and the temperature of the mover. .

好適には、前記可動子温度推定部によって推定された温度が所定の温度を超えた場合にアラームを生成するアラーム生成部を更に有する。   Preferably, the apparatus further includes an alarm generation unit that generates an alarm when the temperature estimated by the mover temperature estimation unit exceeds a predetermined temperature.

好適には、前記電動機が同期電動機である。   Preferably, the electric motor is a synchronous motor.

本発明によれば、巻線の電流値を検出し、電流値を用いて可動子の鉄損を推定し、鉄損を用いて可動子の温度を推定することによって、電動機の可動子を過熱保護するために電動機の可動子の温度を検出することができる。   According to the present invention, the current value of the winding is detected, the iron loss of the mover is estimated using the current value, and the temperature of the mover is estimated using the iron loss, thereby overheating the mover of the motor. In order to protect, the temperature of the mover of the electric motor can be detected.

本発明の第１の実施の形態の温度検出装置を有するシステムのブロック図である。1 is a block diagram of a system having a temperature detection device according to a first embodiment of the present invention. 本発明の第１の実施の形態の温度検出装置の動作のフローチャートである。It is a flowchart of operation | movement of the temperature detection apparatus of the 1st Embodiment of this invention. 本発明の第２の実施の形態の温度検出装置を有するシステムのブロック図である。It is a block diagram of the system which has the temperature detection apparatus of the 2nd Embodiment of this invention. 本発明の第２の実施の形態の温度検出装置の動作のフローチャートである。It is a flowchart of operation | movement of the temperature detection apparatus of the 2nd Embodiment of this invention. 本発明の第３の実施の形態の温度検出装置を有するシステムのブロック図である。It is a block diagram of the system which has the temperature detection apparatus of the 3rd Embodiment of this invention. 本発明の第４の実施の形態の温度検出装置を有するシステムのブロック図である。It is a block diagram of the system which has the temperature detection apparatus of the 4th Embodiment of this invention. 本発明の第４の実施の形態の温度検出装置の動作のフローチャートである。It is a flowchart of operation | movement of the temperature detection apparatus of the 4th Embodiment of this invention.

本発明による温度検出装置の実施の形態を、図面を参照しながら説明する。なお、図面中、同一構成要素には同一符号を付す。
図１は、本発明の第１の実施の形態の温度検出装置を有するシステムのブロック図である。図１に示すシステムは、三相交流電源１と、コンバータ２と、平滑用コンデンサ３と、インバータ４と、永久磁石同期電動機５と、被駆動体６と、エンコーダ７と、温度検出装置１０と、ディスプレイ２１と、を有する。 Embodiments of a temperature detection device according to the present invention will be described with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals.
FIG. 1 is a block diagram of a system having a temperature detection device according to a first embodiment of the present invention. The system shown in FIG. 1 includes a three-phase AC power source 1, a converter 2, a smoothing capacitor 3, an inverter 4, a permanent magnet synchronous motor 5, a driven body 6, an encoder 7, and a temperature detection device 10. And a display 21.

コンバータ２は、例えば、複数（３相交流の場合は６個）の整流ダイオード及びこれらの整流ダイオードのそれぞれに逆並列に接続されたトランジスタによって構成され、三相交流電源１から供給される交流電力を直流電力に変換する。平滑用コンデンサ３は、コンバータ２の整流ダイオードによって整流された電圧を平滑化するためにコンバータ２に並列に接続される。インバータ４は、平滑用コンデンサ３に並列に接続され、例えば、複数（３相交流の場合は６個）の整流ダイオード及びこれらの整流ダイオードのそれぞれに逆並列に接続されたトランジスタによって構成され、コンバータ２によって変換された直流電力を交流電力に変換する。   The converter 2 includes, for example, a plurality of (six in the case of three-phase alternating current) rectifier diodes and transistors connected in reverse parallel to these rectifier diodes, and the alternating-current power supplied from the three-phase alternating current power supply 1. Is converted to DC power. The smoothing capacitor 3 is connected in parallel to the converter 2 in order to smooth the voltage rectified by the rectifier diode of the converter 2. The inverter 4 is connected in parallel to the smoothing capacitor 3, and includes, for example, a plurality of (six in the case of three-phase alternating current) rectifier diodes and transistors connected in antiparallel to each of these rectifier diodes. DC power converted by 2 is converted into AC power.

永久磁石同期電動機５は、テーブル、アーム、それらに着脱されるワーク等の被駆動体６が接続され、例えば、工作機械においてワークを保持するテーブルの位置や姿勢を変えるためのもの、ロボットのアームを回転操作させるもの等であってもよい。本実施の形態では、永久磁石同期電動機５を、エンコーダ７が取り付けられた回転軸５１を有する可動子としてのロータ５２と、ロータ５２を取り囲むように配置された固定子としてのステータ５３とを有する回転型サーボモータとする。   The permanent magnet synchronous motor 5 is connected to a driven body 6 such as a table, an arm, and a work attached to and detached from the table, for example, for changing the position and posture of a table for holding a work in a machine tool, a robot arm It may be one that rotates and the like. In the present embodiment, the permanent magnet synchronous motor 5 includes a rotor 52 as a mover having a rotating shaft 51 to which an encoder 7 is attached, and a stator 53 as a stator arranged so as to surround the rotor 52. A rotary servo motor is used.

ロータ５２は、９０°間隔で配置された４個の永久磁石５４ａ，５４ｂ，５４ｃ，５４ｄを有する。永久磁石５４ａ，５４ｂ，５４ｃ，５４ｄは、ステータ５３側の端部がロータ５２の回転方向に対して互いに９０°ずつ離れるとともに、永久磁石５４ａ，５４ｂ，５４ｃ，５４ｄの外側の端部が交互にＮ極、Ｓ極、Ｎ極及びＳ極となるように配置される。   The rotor 52 has four permanent magnets 54a, 54b, 54c, 54d arranged at intervals of 90 °. The permanent magnets 54a, 54b, 54c, and 54d are spaced apart from each other by 90 ° with respect to the rotation direction of the rotor 52, and the outer ends of the permanent magnets 54a, 54b, 54c, and 54d are alternately arranged. It arrange | positions so that it may become N pole, S pole, N pole, and S pole.

ステータ５３は、１２０°間隔で配置され、Ｕ相、Ｖ相及びＷ相の交流電流がそれぞれ供給される３個の巻線５５ｕ，５５ｖ，５５ｗを有する。したがって、永久磁石同期電動機３は、三相同期電動機として機能する。   The stator 53 has three windings 55u, 55v, and 55w that are arranged at intervals of 120 ° and are supplied with U-phase, V-phase, and W-phase AC currents, respectively. Therefore, the permanent magnet synchronous motor 3 functions as a three-phase synchronous motor.

温度検出装置１０は、後に詳しく説明するように、可動子５２の温度Ｔrを検出する。このために、温度検出装置１０は、電流検出部１１と、鉄損推定部１２と、可動子温度推定部１３と、を有する。 The temperature detection device 10 detects the temperature Tr of the mover 52, as will be described in detail later. For this purpose, the temperature detection device 10 includes a current detection unit 11, an iron loss estimation unit 12, and a mover temperature estimation unit 13.

電流検出部１１は、巻線５５ｕに流れるＵ相交流電流値Ｉu、巻線５５ｖに流れるＶ相交流電流値Ｉ v 及び巻線５５ｗに流れるＷ相交流電流値Ｉwを検出する。そして、電流検出部１１は、検出したＵ相交流電流値Ｉu、Ｖ相交流電流値Ｉ v 及びＷ相交流電流値Ｉwに基づいて、Ｕ相交流電流、Ｖ相交流電流及びＷ相交流電流の周波数ω、Ｄ相交流電流の振幅値（Ｄ相直流電流値）｜Ｉd｜並びにＱ相交流電流の振幅値（Ｑ相直流電流値）｜Ｉq｜を求め、これらを鉄損推定部１２に供給する。このために、電流検出部１１は、例えば、Ｕ相交流電流値Ｉu、Ｖ相交流電流値Ｉ v 及びＷ相交流電流値ＩwをそれぞれＵ相直流電流値｜Ｉu｜、Ｖ相直流電流値｜Ｉ v ｜及びＷ相直流電流値｜Ｉw｜に変換するＡ／Ｄコンバータ、エンコーダ７で検出されたロータ５２の位置の位相から励磁位相を取得する励磁位相取得部、三相二相変換行列を用いてＵ相直流電流値｜Ｉu｜、Ｖ相直流電流値｜Ｉ v ｜及びＷ相直流電流値｜Ｉw｜をＤ相直流電流値｜Ｉd｜及びＱ相直流電流値｜Ｉq｜に変換する三相二相変換器等によって構成される。 The current detector 11 detects the U-phase AC current value I u flowing through the winding 55u, the V-phase AC current value I v flowing through the winding 55v, and the W-phase AC current value I w flowing through the winding 55w. The current detection unit 11 then detects the U-phase AC current, the V-phase AC current, and the W-phase AC based on the detected U-phase AC current value I u , V-phase AC current value I v, and W-phase AC current value I w. Obtain the frequency ω of the current, the amplitude value of the D-phase AC current (D-phase DC current value) | I d | and the amplitude value of the Q-phase AC current (Q-phase DC current value) | I q | To the unit 12. For this purpose, the current detection unit 11 converts, for example, the U-phase AC current value I u , the V-phase AC current value I v, and the W-phase AC current value I w into the U-phase DC current value | I u | A / D converter that converts the current value | I v | and the W-phase DC current value | I w |, an excitation phase acquisition unit that acquires the excitation phase from the phase of the position of the rotor 52 detected by the encoder 7, and three-phase two The U-phase DC current value | I u |, the V-phase DC current value | I v | and the W-phase DC current value | I w | are converted into the D-phase DC current value | I d | and the Q-phase DC current using the phase conversion matrix. It is constituted by a three-phase two-phase converter or the like that converts the value | I q |.

鉄損推定部１２は、式

Figure 0005149431
に基づいて可動子５２の鉄損ｐを推定し、鉄損ｐを可動子温度推定部１３に供給する。 The iron loss estimator 12 uses the formula
Figure 0005149431
 Based on the above, the iron loss p of the mover 52 is estimated, and the iron loss p is supplied to the mover temperature estimation unit 13.

式（１）において、第１項は、渦電流による損失に相当し、第２項は、ヒステリシスによる損失に対応する。定数ａ，ｂ，ｃ，ｅ，ｆ，α，βを決定する際に、鉄損ｐの計測やシミュレーション（例えば、磁気解析）においてＤ相交流電流値Ｉd及びＱ相交流電流値Ｉqを変えながら鉄損ｐを求め、求めた鉄損ｐと式（１）との残差が最小となるような定数ａ，ｂ，ｃ，ｅ，ｆ，α，βを選択する。なお、指数α及びβが決定されていないために定数ａ，ｂ，ｃ，ｅ，ｆの算出が困難である場合、既知の指数α及びβの値（例えば、α＝２，β＝１．６）を予め選択し、定数ａ，ｂ，ｃ，ｅ，ｆのみを算出してもよい。なお、Ｉd＝Ｉq＝０であるときの鉄損ｐに相当するｂｃαω2＋ｆｃβωは、可動子５２の移動により生じる磁束変動に起因する鉄損である。また、ヒステリシスによる損失が非常に小さい場合、第２項を無視することもできる。 In Equation (1), the first term corresponds to loss due to eddy current, and the second term corresponds to loss due to hysteresis. When determining the constants a, b, c, e, f, α, and β, the D-phase AC current value I d and the Q-phase AC current value I q are measured in the iron loss p measurement and simulation (eg, magnetic analysis). The iron loss p is obtained while changing, and constants a, b, c, e, f, α, β are selected so that the residual between the obtained iron loss p and Equation (1) is minimized. If the constants a, b, c, e, and f are difficult to calculate because the indices α and β are not determined, the values of the known indices α and β (for example, α = 2, β = 1. 6) may be selected in advance, and only constants a, b, c, e, and f may be calculated. Note that bc α ω 2 + fc β ω corresponding to the iron loss p when I d = I q = 0 is an iron loss caused by a magnetic flux variation caused by the movement of the mover 52. If the loss due to hysteresis is very small, the second term can be ignored.

可動子温度推定部１３は、式

Figure 0005149431
に基づいて可動子５２の温度Ｔrを推定し、温度Ｔrに関する映像信号Ｓtをディスプレイ２１に出力する。なお、ここでは、Ｔr（０）＝Ｔsとしている。また、式（２）によれば、可動子５２の温度Ｔrの上昇分を推定することもできる。 The mover temperature estimator 13 is given by the equation
Figure 0005149431
 Estimating the temperature T r of the mover 52 based on the outputs a video signal S t relating to the temperature T r on the display 21. Here, T r (0) = T s is assumed. Further, according to the equation (2), it is possible to estimate an increase in the temperature Tr of the mover 52.

可動子５２の温度Ｔrを推定するためには可動子５２の温度の初期値Ｔr（０）を決定する必要がある。式（２）において、可動子５２の温度の初期値Ｔr（０）を、永久磁石同期電動機５の周囲の温度Ｔsとしているが、可動子５２の温度の初期値Ｔr（０）を、巻線５５ｕ，５５ｖ，５５ｗの温度の初期値又は直接測定した可動子５２の温度としてもよい。 In order to estimate the temperature T r of the mover 52, it is necessary to determine the initial value T r (0) of the temperature of the mover 52. In the equation (2), the initial value T r (0) of the temperature of the mover 52 is set as the temperature T s around the permanent magnet synchronous motor 5, but the initial value T r (0) of the temperature of the mover 52 is The initial value of the temperature of the windings 55u, 55v, and 55w or the temperature of the mover 52 directly measured may be used.

ディスプレイ２１は、液晶表示装置（ＬＣＤ）等によって構成され、映像信号Ｓtを表示し、可動子５２の温度Ｔrについての注意をユーザに対して喚起する。このように注意を喚起することによって、可動子５２を過熱保護するよう永久磁石同期電動機５の動作を、ユーザによる永久磁石同期電動機５の操作によって制御することができる。 Display 21 includes a liquid crystal display device (LCD) or the like, to display the video signal S t, draw attention of the temperature T r of the movable element 52 to the user. By calling attention in this way, the operation of the permanent magnet synchronous motor 5 can be controlled by the operation of the permanent magnet synchronous motor 5 by the user so as to protect the mover 52 from overheating.

図２は、本発明の第１の実施の形態の温度検出装置の動作のフローチャートである。先ず、ステップＳ１において、電流検出部１１は、Ｕ相交流電流値Ｉu、Ｖ相交流電流値Ｉ v 及びＷ相交流電流値Ｉwを検出し、検出したＵ相交流電流値Ｉu、Ｖ相交流電流値Ｉ v 及びＷ相交流電流値Ｉwに基づいて、Ｕ相交流電流、Ｖ相交流電流及びＷ相交流電流の周波数ω、Ｄ相交流電流の振幅値（Ｄ相直流電流値）｜Ｉd｜並びにＱ相交流電流の振幅値（Ｑ相直流電流値）｜Ｉq｜を求め、これらを鉄損推定部１２に供給する。 FIG. 2 is a flowchart of the operation of the temperature detection apparatus according to the first embodiment of the present invention. First, in step S1, the current detection unit 11 detects the U-phase AC current value I u , the V-phase AC current value I v, and the W-phase AC current value I w, and detects the detected U-phase AC current values I u , V Based on the phase AC current value I v and the W phase AC current value I w , the frequency ω of the U phase AC current, the V phase AC current and the W phase AC current, and the amplitude value of the D phase AC current (D phase DC current value) | I d | and the amplitude value of the Q-phase AC current (Q-phase DC current value) | I q | are obtained and supplied to the iron loss estimation unit 12.

次に、ステップＳ２において、鉄損推定部１２は、式（１）に基づいて鉄損ｐを推定し、鉄損ｐを可動子温度推定部１３に供給する。次に、ステップＳ３において、可動子温度推定部１３は、式（２）に基づいて可動子５２の温度Ｔrを推定し、温度Ｔrについての映像信号Ｓtをディスプレイ２１に出力する。次に、ステップＳ４において、ディスプレイ２１は、映像信号Ｓtを表示し、処理を終了する。 Next, in step S <b> 2, the iron loss estimation unit 12 estimates the iron loss p based on the formula (1), and supplies the iron loss p to the mover temperature estimation unit 13. Next, in step S3, the movable element temperature estimation unit 13 estimates the temperature T r of the mover 52 based on equation (2), and it outputs a video signal S t of the temperature T r on the display 21. Next, in step S4, the display 21 displays the video signal S t, the process ends.

本実施の形態によれば、Ｕ相交流電流値Ｉu、Ｖ相交流電流値Ｉ v 及びＷ相交流電流値Ｉwを検出し、これらＵ相交流電流値Ｉu、Ｖ相交流電流値Ｉ v 及びＷ相交流電流値Ｉwを用いて可動子５２の鉄損ｐを推定し、鉄損ｐを用いて可動子５２の温度Ｔrを推定することによって、可動子５２を過熱から保護するために可動子５２の温度Ｔrを検出することができる。 According to the present embodiment, U-phase AC current value I u , V-phase AC current value I v and W-phase AC current value I w are detected, and these U-phase AC current value I u and V-phase AC current value I are detected. using v and W-phase alternating current I w to estimate the iron loss p of the movable element 52, by estimating the temperature T r of the movable element 52 with a core loss p, to protect the movable element 52 from overheating Therefore, the temperature Tr of the mover 52 can be detected.

図３は、本発明の第２の実施の形態の温度検出装置を有するシステムのブロック図である。図３に示すシステムは、三相交流電源１と、コンバータ２と、平滑用コンデンサ３と、インバータ４と、永久磁石同期電動機５と、被駆動体６と、温度検出装置１０’と、ディスプレイ２１と、を有する。温度検出装置１０’は、電流検出部１１と、鉄損推定部１２と、可動子温度推定部１３’と、巻線温度推定部１４と、を有する。   FIG. 3 is a block diagram of a system having the temperature detection device according to the second embodiment of the present invention. The system shown in FIG. 3 includes a three-phase AC power source 1, a converter 2, a smoothing capacitor 3, an inverter 4, a permanent magnet synchronous motor 5, a driven body 6, a temperature detection device 10 ′, and a display 21. And having. The temperature detection device 10 ′ includes a current detection unit 11, an iron loss estimation unit 12, a mover temperature estimation unit 13 ′, and a winding temperature estimation unit 14.

巻線温度推定部１４は、巻線５５ｕ，５５ｖ，５５ｗの周辺に配置されたサーミスタやサーモスタットのような温度検出素子である。したがって、巻線温度推定部１４は、巻線５５ｕ，５５ｖ，５５ｗの温度Ｔcを直接測定する。 The winding temperature estimation unit 14 is a temperature detection element such as a thermistor or a thermostat arranged around the windings 55u, 55v, and 55w. Therefore, the winding temperature estimation unit 14 directly measures the temperature T c of the windings 55u, 55v, and 55w.

可動子温度推定部１３’は、式

Figure 0005149431
に基づいて可動子５２の温度Ｔrを推定し、温度Ｔrについての映像信号Ｓtをディスプレイ２１に出力する。なお、式（３）は、可動子５２の発熱量が鉄損と固定子５３からの伝熱との和から大気等への放熱を引いたものに相当することを示している。 The mover temperature estimation unit 13 '
Figure 0005149431
 Estimating the temperature T r of the mover 52 based on the outputs a video signal S t of the temperature T r on the display 21. Equation (3) indicates that the amount of heat generated by the mover 52 corresponds to the sum of the iron loss and the heat transfer from the stator 53 minus the heat released to the atmosphere or the like.

固定子５３の温度が可動子５２の温度より高い場合には固定子５３から可動子５２への伝熱が生じる。式（３）によれば、固定子５３の温度に相当する巻線の温度Ｔcを用いることによって固定子５３から可動子５２への伝熱を考慮しているので、可動子５２の温度Ｔrを、式（２）の場合よりも高い精度で推定することができる。また、式（３）によれば、可動子５２の温度Ｔrの上昇分を推定することもできる。 When the temperature of the stator 53 is higher than the temperature of the mover 52, heat transfer from the stator 53 to the mover 52 occurs. According to Equation (3), heat transfer from the stator 53 to the mover 52 is taken into account by using the winding temperature T c corresponding to the temperature of the stator 53, and therefore the temperature T of the mover 52 is considered. r can be estimated with higher accuracy than in the case of equation (2). Further, according to the equation (3), the increase in the temperature Tr of the mover 52 can be estimated.

図４は、本発明の第２の実施の形態の温度検出装置の動作のフローチャートである。図４のフローチャートでは、ステップＳ２の後のステップＳ５において、巻線温度推定部１４は、巻線５５ｕ，５５ｖ，５５ｗの温度Ｔcを直接測定する。次に、ステップＳ３’において、可動子温度推定部１３’は、式（３）に基づいて可動子５２の温度Ｔrを推定し、ステップＳ４に進む。 FIG. 4 is a flowchart of the operation of the temperature detection apparatus according to the second embodiment of the present invention. In the flowchart of FIG. 4, in step S5 after step S2, the winding temperature estimation unit 14 measures the winding 55u, 55v, the temperature T c of 55w directly. Next, in step S3 ′, the mover temperature estimation unit 13 ′ estimates the temperature Tr of the mover 52 based on Expression (3), and the process proceeds to step S4.

図５は、本発明の第３の実施の形態の温度検出装置を有するシステムのブロック図である。図５に示すシステムは、三相交流電源１と、コンバータ２と、平滑用コンデンサ３と、インバータ４と、永久磁石同期電動機５と、被駆動体６と、温度検出装置１０”と、ディスプレイ２１と、を有する。温度検出装置１０”は、電流検出部１１と、鉄損推定部１２と、可動子温度推定部１３”と、巻線温度推定部１４’と、を有する。   FIG. 5 is a block diagram of a system having a temperature detection apparatus according to the third embodiment of the present invention. The system shown in FIG. 5 includes a three-phase AC power source 1, a converter 2, a smoothing capacitor 3, an inverter 4, a permanent magnet synchronous motor 5, a driven body 6, a temperature detection device 10 ″, and a display 21. The temperature detection device 10 ″ includes a current detection unit 11, an iron loss estimation unit 12, a mover temperature estimation unit 13 ″, and a winding temperature estimation unit 14 ′.

巻線温度推定部１４’は、式

Figure 0005149431
に基づいて巻線５５ｕ，５５ｖ，５５ｗの温度Ｔcを推定し、温度Ｔcを可動温度推定部１３”に供給する。なお、銅損Ｑ（ｔ）は、Ｄ相交流電流の振幅値（Ｄ相直流電流値）｜Ｉd｜、Ｑ相交流電流の振幅値（Ｑ相直流電流値）｜Ｉq｜、巻線５５ｕ，５５ｖ，５５ｗの抵抗値及び永久磁石同期電動機５に交流電流が印加される時間に基づいて決定される。また、式（４）によれば、巻線５５ｕ，５５ｖ，５５ｗの温度Ｔcの上昇分を推定することもできる。 Winding temperature estimation unit 14 '
Figure 0005149431
 Is used to estimate the temperature T c of the windings 55u, 55v, 55w and supply the temperature T c to the movable temperature estimation unit 13 ″. The copper loss Q (t) is the amplitude value of the D-phase alternating current ( D-phase DC current value) | I d |, Q-phase AC current amplitude value (Q-phase DC current value) | I q |, resistance values of windings 55u, 55v, 55w, and AC current to permanent magnet synchronous motor 5 Further, according to the equation (4), it is also possible to estimate an increase in the temperature T c of the windings 55u, 55v, 55w.

なお、巻線温度推定部１４’が巻線５５ｕ，５５ｖ，５５ｗの温度Ｔcを可動子５２の温度Ｔrを用いて推定するために、巻線温度推定部１４’には、可動子温度推定部１３”から可動子５２の温度Ｔrが供給される。また、温度検出装置１０”は、図４に示すフローチャートの処理と同様な処理を行うことによって可動子５２の温度Ｔrを推定し、映像信号Ｓtをディスプレイ２１に表示する。 Incidentally, the winding temperature estimation section 14 'windings 55u, 55v, the temperature T c of 55w to estimate using the temperature T r of the mover 52, the winding temperature estimation unit 14', the movable element temperature The temperature Tr of the mover 52 is supplied from the estimation unit 13 ″. Also, the temperature detection device 10 ″ estimates the temperature Tr of the mover 52 by performing the same processing as the processing of the flowchart shown in FIG. Then, the video signal St is displayed on the display 21.

図６は、本発明の第４の実施の形態の温度検出装置を有するシステムのブロック図である。図６に示すシステムは、三相交流電源１と、コンバータ２と、平滑用コンデンサ３と、インバータ４と、永久磁石同期電動機５と、被駆動体６と、温度検出装置１００と、メモリ２２と、上位制御装置２３と、を有する。温度検出装置１００は、電流検出部１１と、鉄損推定部１２と、可動子温度推定部１３と、巻線温度推定部１４と、アラーム生成部１５と、を有する。   FIG. 6 is a block diagram of a system having a temperature detection device according to the fourth embodiment of the present invention. The system shown in FIG. 6 includes a three-phase AC power source 1, a converter 2, a smoothing capacitor 3, an inverter 4, a permanent magnet synchronous motor 5, a driven body 6, a temperature detection device 100, a memory 22, and the like. And the host control device 23. The temperature detection device 100 includes a current detection unit 11, an iron loss estimation unit 12, a mover temperature estimation unit 13, a winding temperature estimation unit 14, and an alarm generation unit 15.

メモリ２２には、可動子５２が過熱状態であるか否かを判断するための基準値Ｔtが格納されている。アラーム生成部１５には、可動子温度推定部１３から可動子５２の温度Ｔrが供給される。そして、アラーム生成部１５は、メモリ２２から基準値Ｔtを読み出し、可動子５２の温度Ｔrが基準値Ｔtより高い場合には、可動子５２が過熱状態であることを報告するアラーム信号Ｓaを生成し、アラーム信号Ｓaを上位制御装置２３に供給する。上位制御装置２３は、ＣＮＣ（数値制御装置）等によって構成され、アラーム信号Ｓaがアラーム生成部１５から供給されると、永久磁石同期電動機５の動作を停止させる。 The memory 22 stores a reference value T t for determining whether or not the mover 52 is in an overheated state. The alarm generation unit 15 is supplied with the temperature Tr of the mover 52 from the mover temperature estimation unit 13. Then, the alarm generation unit 15 reads the reference value T t from the memory 22, and when the temperature T r of the mover 52 is higher than the reference value T t , an alarm signal that reports that the mover 52 is in an overheated state. S a is generated, and the alarm signal S a is supplied to the host controller 23. The host controller 23 is constituted by a CNC (numerical controller) or the like, and stops the operation of the permanent magnet synchronous motor 5 when the alarm signal Sa is supplied from the alarm generator 15.

図７は、本発明の第４の実施の形態の温度検出装置の動作のフローチャートである。図７のフローチャートでは、ステップＳ４の後のステップＳ６において、アラーム生成部１５は、可動子５２の温度Ｔrが値Ｔtより高いか否か判断する。可動子５２の温度Ｔrが値Ｔtより高い場合、ステップＳ７において、アラーム生成部１５は、アラーム信号Ｓaを生成し、アラーム信号Ｓaを上位制御装置２３に供給し、処理を終了する。それに対し、可動子５２の温度Ｔrが値Ｔtより高くない場合、そのまま処理を終了する。 FIG. 7 is a flowchart of the operation of the temperature detection device according to the fourth embodiment of the present invention. In the flowchart of FIG. 7, in step S6 after step S4, the alarm generation unit 15 determines whether or not the temperature Tr of the mover 52 is higher than the value Tt . If the temperature T r of the movable element 52 is higher than the value T t, in step S7, the alarm generation section 15 generates an alarm signal S a, supplies an alarm signal S a to the host controller 23, the process ends . On the other hand, if the temperature T r of the mover 52 is not higher than the value T t , the process is terminated as it is.

本発明は、上記実施の形態に限定されるものではなく、幾多の変更及び変形が可能である。例えば、上記実施の形態において、交流電源として三相交流電源を用いる場合について説明したが、交流電源は三相交流電源に限定されるものではない。   The present invention is not limited to the above-described embodiment, and many changes and modifications can be made. For example, although the case where a three-phase AC power source is used as an AC power source has been described in the above embodiment, the AC power source is not limited to a three-phase AC power source.

また、上記実施の形態において、電動機として回転型サーボモータを用いる場合について説明したが、ステータ及びスライダを有するリニアサーボモータ、ステータ及びバイブレータを有する振動型サーボモータ等の永久磁石同期電動機を用いる場合にも本発明を適用することができ、同期電動機の代わりに誘導電動機を用いる場合にも本発明を適用することができる。   In the above embodiment, the case where a rotary servo motor is used as the electric motor has been described. However, when a permanent magnet synchronous motor such as a linear servo motor having a stator and a slider and a vibration servo motor having a stator and a vibrator is used. The present invention can also be applied, and the present invention can also be applied when an induction motor is used instead of a synchronous motor.

上記実施の形態において、巻線を流れる交流電流の周波数、Ｄ相交流電流値及びＱ相交流電流値を用いて鉄損を推定する場合について説明したが、巻線を流れる交流電流の振幅及び周波数と、可動子の位相とを用いて鉄損を推定することもでき、磁気解析を用いて鉄損を推定することもできる。   In the above embodiment, the case where the iron loss is estimated using the frequency of the alternating current flowing through the winding, the D-phase alternating current value, and the Q-phase alternating current value has been described. The amplitude and frequency of the alternating current flowing through the winding And the phase of the mover can be used to estimate the iron loss, and magnetic analysis can be used to estimate the iron loss.

また、電動機に入力される電力が電動機の銅損、電動機の鉄損、電動機の機械損及び電動機の出力の和になるというエネルギー保存則を用いて鉄損を推定することもできる。電動機に入力される電力は、電動機に供給される電流と電動機に印加される電圧の積になる。電動機に印加される電圧を直接測定することができるが、電動機に印加される電圧を、電動機の逆起電力、電動機の抵抗値、電動機のインダクタンス値及び電動機に流れる電流（例えば、Ｄ相交流電流及びＱ相交流電流）を用いて推定することもできる。なお、機械損として、機械損の理論値、機械損の実験値又は既知の機械損を用いる。この場合に推定される鉄損は、固定子の鉄損と可動子の鉄損との和になるが、推定される鉄損に対する可動子に生じる鉄損の割合が一定であると考えられるので、推定される鉄損にこの割合を乗算することによって、可動子の鉄損を推定することができる。なお、この割合は、理論的又は実験的に求めることができるが、既知の割合を用いることもできる。   It is also possible to estimate the iron loss using an energy conservation law in which the electric power input to the motor is the sum of the copper loss of the motor, the iron loss of the motor, the mechanical loss of the motor, and the output of the motor. The electric power input to the electric motor is the product of the current supplied to the electric motor and the voltage applied to the electric motor. Although the voltage applied to the motor can be directly measured, the voltage applied to the motor is determined based on the back electromotive force of the motor, the resistance value of the motor, the inductance value of the motor, and the current flowing through the motor (for example, D-phase AC current). And Q-phase alternating current). As the mechanical loss, a theoretical value of mechanical loss, an experimental value of mechanical loss, or a known mechanical loss is used. The estimated iron loss in this case is the sum of the iron loss of the stator and the iron loss of the mover, but the ratio of the iron loss generated in the mover to the estimated iron loss is considered to be constant. By multiplying the estimated iron loss by this ratio, the iron loss of the mover can be estimated. In addition, although this ratio can be calculated | required theoretically or experimentally, a known ratio can also be used.

また、可動子の鉄損を推定するに際し、式（１）の代わりに、式（１）から容易に想到できる近似式を用いることもできる。例えば、可動子の鉄損を、式

Figure 0005149431
に基づいて推定することができる。 Moreover, when estimating the iron loss of a needle | mover, the approximate expression which can be easily considered from Formula (1) can also be used instead of Formula (1). For example, the iron loss of the mover
Figure 0005149431
 Can be estimated.

上記第３の実施の形態において、可動子の温度を用いて巻線の温度を推定する場合について説明したが、可動子の温度を用いることなく巻線の温度を推定することもできる。この場合、巻線の温度を、式

Figure 0005149431
に基づいて推定する。 Although the case where the temperature of the winding is estimated using the temperature of the mover has been described in the third embodiment, the temperature of the winding can also be estimated without using the temperature of the mover. In this case, the temperature of the winding
Figure 0005149431
 Estimate based on

さらに、上記第１〜３の実施の形態において、上記第４の実施の形態のようにアラームを生成することもできる。   Furthermore, in the first to third embodiments, an alarm can be generated as in the fourth embodiment.

１ 三相交流電源
２ コンバータ
３ 平滑用コンデンサ
４ インバータ
５ 永久磁石同期電動機
６ 被駆動体
７ エンコーダ
１０，１０’，１０”，１００ 温度検出器
１１ 電流検出部
１２ 鉄損推定部
１３，１３’，１３” 可動子温度推定部
１４，１４’ 巻線温度推定部
１５ アラーム生成部
２１ ディスプレイ
２２ メモリ
２３ 上位制御装置
５１ 回転軸
５２ ロータ
５３ ステータ
５４ａ，５４ｂ，５４ｃ，５４ｄ 永久磁石
５５ｕ，５５ｖ，５５ｗ 巻線
Ｉu Ｕ相交流電流値
Ｉ v Ｖ相交流電流値
Ｉw Ｗ相交流電流値
ω Ｕ相交流電流、Ｖ相交流電流及びＷ相交流電流の周波数
｜Ｉd｜ Ｄ相交流電流の振幅値（Ｄ相直流電流値）
｜Ｉq｜ Ｑ相交流電流の振幅値（Ｑ相直流電流値）
ｐ 鉄損
Ｓa アラーム信号
Ｓt 映像信号
Ｔc 巻線の温度
Ｔr 可動子の温度
Ｔt 基準値 DESCRIPTION OF SYMBOLS 1 Three-phase AC power source 2 Converter 3 Smoothing capacitor 4 Inverter 5 Permanent magnet synchronous motor 6 Driven body 7 Encoder 10, 10 ', 10 ", 100 Temperature detector 11 Current detection part 12 Iron loss estimation part 13, 13', 13 "mover temperature estimation unit 14, 14 'winding temperature estimation unit 15 alarm generation unit 21 display 22 memory 23 host controller 51 rotating shaft 52 rotor 53 stator 54a, 54b, 54c, 54d permanent magnet 55u, 55v, 55w winding Line Iu U-phase AC current value
I v V phase AC current value I w W phase AC current value ω Frequency of U phase AC current, V phase AC current and W phase AC current | I d | Amplitude value of D phase AC current (D phase DC current value)
| I q | Q-phase AC current amplitude value (Q-phase DC current value)
p iron loss S a alarm signal S t image signal T the temperature of the c winding T r temperature T t reference value of the movable element

Claims (7)

電動機の可動子の温度を検出する温度検出装置であって、
前記電動機の固定子と可動子のうちのいずれか一方に設けられた巻線の電流値を検出する電流検出部と、
前記電流値を用いて前記可動子の鉄損を推定する鉄損推定部と、
前記巻線の温度を推定する巻線温度推定部と、
前記鉄損及び前記巻線の温度を用いて前記可動子の温度を推定する可動子温度推定部と、
を有する温度検出装置。 A temperature detection device for detecting a temperature of a mover of an electric motor,
A current detection unit for detecting a current value of a winding provided in any one of the stator and the mover of the electric motor;
An iron loss estimation unit that estimates the iron loss of the mover using the current value;
A winding temperature estimation unit for estimating the temperature of the winding;
A mover temperature estimation unit that estimates the temperature of the mover using the iron loss and the temperature of the winding;
A temperature detecting device. 電動機の可動子の温度を検出する温度検出装置であって、
三相交流電流のうちのＵ相、Ｖ相及びＷ相の交流電流がそれぞれ供給される三つの巻線が、前記電動機の固定子に設けられ、
前記温度検出装置は、
各交流電流の電流値を検出する電流検出部と、
式
Figure 0005149431
 に基づいて前記可動子の鉄損を推定する鉄損推定部と、
前記鉄損を用いて前記可動子の温度を推定する可動子温度推定部と、
を有する温度検出装置。 A temperature detection device for detecting a temperature of a mover of an electric motor,
Three windings to which the U-phase, V-phase, and W-phase AC currents of the three-phase AC currents are respectively supplied are provided on the stator of the electric motor,
The temperature detector is
A current detector for detecting the current value of each alternating current;
formula
Figure 0005149431
 An iron loss estimation unit for estimating the iron loss of the mover based on
A mover temperature estimator that estimates the temperature of the mover using the iron loss;
A temperature detecting device. 前記巻線が前記固定子に設けられ、前記巻線温度推定部は、前記巻線の周辺に配置された温度検出素子である請求項１に記載の温度検出装置。 The winding is provided in said stator, said winding temperature estimation unit, the temperature detection device according to claim 1 which is a temperature detecting element disposed on the periphery of the winding. 前記巻線温度推定部は、前記電流値から前記巻線の銅損を推定し、前記銅損から前記巻線の温度の上昇分を算出する請求項１に記載の温度検出装置。 The temperature detection device according to claim 1 , wherein the winding temperature estimation unit estimates a copper loss of the winding from the current value, and calculates an increase in temperature of the winding from the copper loss. 三相交流電流のうちのＵ相、Ｖ相及びＷ相の交流電流がそれぞれ供給される三つの巻線が、前記固定子に設けられ、前記鉄損推定部は、式
Figure 0005149431
 に基づいて前記可動子の鉄損を推定し、前記可動子温度推定部は、前記鉄損、前記巻線の温度及び前記可動子の温度を用いて前記可動子の温度の上昇分を推定する請求項１，３，４のうちのいずれか１項に記載の温度検出装置。 Three windings to which U-phase, V-phase, and W-phase AC currents among the three-phase AC currents are respectively supplied are provided in the stator, and the iron loss estimation unit is represented by the formula
Figure 0005149431
 The mover temperature estimation unit estimates an increase in temperature of the mover using the iron loss, the temperature of the winding, and the temperature of the mover. The temperature detection apparatus of any one of Claim 1,3,4 . 前記可動子温度推定部によって推定された温度が所定の温度を超えた場合にアラームを生成するアラーム生成部を更に有する請求項１から５のうちのいずれか１項に記載の温度検出装置。 An assembly as claimed in any one of claims 1-5, further comprising an alarm generator for generating an alarm when the temperature estimated by the mover temperature estimation unit exceeds a predetermined temperature. 前記電動機が同期電動機である請求項１から６のうちのいずれか１項に記載の温度検出装置。 The temperature detection device according to any one of claims 1 to 6 , wherein the electric motor is a synchronous motor.
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